Judith León Espinoza

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In this paper, we address the problem of searching an object with a mobile robot in a known 3-D environment. We consider a 7 degrees of freedom mobile manipulator with an " eye-in-hand " sensor. The sensor is limited in both range and field of view. In this work, we propose a solution to the " where to look " part of the object finding problem based on(More)
— In this paper, we address the problem of repairing previously computed plans for searching for an object. The object is sought with a 7 degrees of freedom mobile manipulator robot with an " eye-in-hand " sensor. The sensor is limited in both range and field of view. Our method computes a set of sensing configurations, which collectively cover the(More)
In this paper, we address the problem of searching for an object in a 3-D environment. We consider a mobile manipulator with an " eye-in-hand " sensor moving in the 3-D environment. In particular, we consider a static object whose location is modeled with a probability density function (pdf). We generate routes that minimize the expected value of the time(More)
— Automatic model building is a fundamental task in mobile robotics. We present a method for sensor-based exploration of unknown environments by non-holonomic mobile robots. This method proceeds by building a data structure called SRT (Sensor-based Random Tree). The SRT represents a roadmap of the explored area with an associated safe region, and estimates(More)
In this paper, we address the problem of reducing the time for finding an object. We consider both the time taken by our software to generate a search plan and the expected time to find the object when the plan is executed. The object is sought with a 7 degree of freedom mobile manipulator robot with an " eye-in-hand " sensor. The sensor is limited in both(More)
—Real mobile robots should be able to build an abstract representation of the physical environment , in order to navigate and to work in such environment. We present a method for sensor-based exploration of unknown environments by mobile robots. This method proceeds by building a data structure called SRT (Sensor-based Random Tree). The SRT represents a(More)
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